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Development of Control Method for Outer‐Rotor Spherical Actuator
Author(s) -
TSUKANO MASAHITO,
HIRATA KATSUHIRO,
MAEDA SHUHEI,
NIGUCHI NOBORU
Publication year - 2016
Publication title -
electrical engineering in japan
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.136
H-Index - 28
eISSN - 1520-6416
pISSN - 0424-7760
DOI - 10.1002/eej.22729
Subject(s) - actuator , rotor (electric) , control theory (sociology) , control (management) , materials science , control engineering , computer science , engineering , mechanical engineering , electrical engineering , artificial intelligence
SUMMARY Conventional multi‐degree‐of‐freedom drive systems need many single‐degree‐of‐freedom actuators, but this makes the structure larger and heavier. The development of a spherical actuator should reduce the number of actuators, but the low torque and narrow rotation range are still problems. We developed a 2‐degree‐of‐freedom spherical actuator with an outer rotor that can produce a higher torque and wider rotation angle. In this paper, we propose a control method; we confirmed its usefulness by performing dynamic analysis using the three‐dimensional finite element method and by taking measurements with a prototype.